Research Of Environmental Perception Of Mobile Manipulator Based On Multi-Source Information Fusion

The research of moble robot is an important embranchment of Robotics. At present, along with the continuous advancement of robot technology, the apply field of mobile robot has been more and more abroad, and it's main development aspect is all independence, that is navigation, avoiding barriers and orientation self-determinatively. Moreover, the technology of multi-source information fusion is effective means to achieve these intentions.This paper makes embedded systemic research about the environmental perception of mobile manipulator based on multi-source information fusion, supported by Hi-tech Research and Development Program of China named the system of leak detecting and repairing mobile manipulator for dangerous chemical reactor (No. 2003AA421040). The object of research is Pioneer 3-AT mobile robot made by ActivMedia Robotics Corporation of USA and the five DOF manipulator developed by our lab. What followed are the main contents of paper:Firstly, the bodywork configuration of HEBUT- II mobile manipultor is introduced, and then, the driving system and the kinematics characteristic are also analyzed.Secondly, the paper works over data fusion of vision and sonar fixed on the manipulator, that would applied to the orientation of the end of manipulator. For the vision system, it emphasizes on image-preprocessing, including: gray treatment, the choice of threshold, binarization, erosion, dilation, group color up method and invariant moment, which used to generate a 2-dimension image that is prone to be recognised and understand by computer, at the same time, the third information, that is the distance between the end of manipulator and the operated surface is provided by ultrasonic sensor. Examinations make known that the method could pich-up beautifully the information of object figure as the foundation of the next task—gushing glue and blocking up the leak.Finally, fuzzy control is applied to avoid barriers independently on the base of the sonar array of Pioneer 3 mobile robot, then, the imitation is carried on computer. In a relative complex map, the character of contrail curve is analyzed and the validity and corrctness of adoptived arithmetic is proved. The spot demonstration of HEBUT- II mobile robot to avid obstacles had been done well.